CN109238172A - Acquisition methods, the apparatus and system of vehicle's contour information - Google Patents
Acquisition methods, the apparatus and system of vehicle's contour information Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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Abstract
The invention discloses acquisition methods, the apparatus and systems of a kind of vehicle's contour information.Wherein, this method comprises: obtaining the three-dimensional data information of tested vehicle in the detection area by detection device；According to the profile information of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information, wherein above-mentioned profile information includes at least one of: length information, width information, elevation information.Acquisition methods, the apparatus and system of vehicle's contour information provided by the invention solve the technical issues of profile information that existing vehicle overall dimension detection technique can not accurately detect non-rectilinear driving vehicle.
Description
Technical field
The present invention relates to field of vehicle detection, in particular to a kind of acquisition methods of vehicle's contour information, device and
System.
Background technique
In existing vehicle overall dimension detection technique, when straight line travels and direction of traffic is perpendicular to detection faces,
It can accurately detect the profile information of vehicle, but for the vehicle of non-rectilinear traveling, for example, oblique line travels, curve driving,
Existing detection technique can not accurately detect the profile information of vehicle.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
It is existing to solve the embodiment of the invention provides acquisition methods, the apparatus and system of a kind of vehicle's contour information
Vehicle overall dimension detection technique can not accurately detect the technical issues of profile information of non-rectilinear driving vehicle.
According to an aspect of an embodiment of the present invention, a kind of acquisition methods of vehicle's contour information are provided, comprising: pass through
Detection device obtains the three-dimensional data information of tested vehicle in the detection area, wherein above-mentioned detection device includes: the first detection
Element, for scanning the range information of first side of the above-mentioned tested vehicle in driving direction, the second detecting element, for sweeping
The range information of second side of the above-mentioned tested vehicle in driving direction is retouched, third detecting element is above-mentioned tested for scanning
The range information of third side of the vehicle in driving direction, above-mentioned first side is opposite with above-mentioned second side be arranged in parallel and
Above-mentioned first side and above-mentioned second side are vertical with ground level, and above-mentioned third side is parallel with above-mentioned ground level；According to upper
State the profile information of the above-mentioned tested vehicle of three-dimensional data acquisition of information, wherein above-mentioned profile information includes at least one of: long
Spend information, width information, elevation information.
It further, include: from upper according to the above-mentioned profile information of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information
State the range information of range information, above-mentioned second side that above-mentioned first side is obtained in three-dimensional data information, above-mentioned third side
The range information in face and above-mentioned tested vehicle driving direction and above-mentioned first detecting element scanning surface or above-mentioned second detection member
The angle information of part scanning surface；Using the range information of above-mentioned first side, the range information of above-mentioned second side and above-mentioned
Angle information calculates the width information of above-mentioned tested vehicle.
Further, the range information of above-mentioned first side, above-mentioned second side are obtained from above-mentioned three-dimensional data information
Range information include: that above-mentioned first side is scanned by above-mentioned first detecting element, by above-mentioned tested vehicle in above-mentioned detection
The three-dimensional data information of above-mentioned first side in region is converted to three-dimensional coordinate information；It is searched using above-mentioned three-dimensional coordinate information
Distance corresponds to the nearest boundary point of horizontal distance of sense channel in above-mentioned first side, and is determined using the boundary point found
The range information of above-mentioned first side；Above-mentioned second side is scanned by above-mentioned second detecting element, above-mentioned tested vehicle is existed
The three-dimensional data information of above-mentioned second side in above-mentioned detection zone is converted to three-dimensional coordinate information；Utilize above-mentioned three-dimensional coordinate
Distance corresponds to the nearest boundary point of horizontal distance of sense channel in the above-mentioned second side of information searching, and utilizes the side found
Boundary's point determines the range information of above-mentioned second side.
Further, the range information that above-mentioned third side is obtained from above-mentioned three-dimensional data information includes: using above-mentioned
The smallest the near front wheel side of vertical range in the above-mentioned tested vehicle of three-dimensional data information searching between above-mentioned third detecting element
Boundary's point and off-front wheel boundary point；It is swept according to boundary point line and above-mentioned first detecting element scanning surface or above-mentioned second detecting element
The leading angle of working as retouching face determines above-mentioned angle information, wherein above-mentioned boundary point line is above-mentioned the near front wheel boundary point and the above-mentioned right side
Line between front-wheel boundary point.
It further, include: from upper according to the above-mentioned profile information of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information
It states and obtains the first vertical range and the second vertical range in three-dimensional data information, wherein above-mentioned first vertical range is above-mentioned quilt
Measuring car enters the distance between headstock boundary point and first default front-wheel boundary point of above-mentioned detection zone in vehicle driving side
Upward projection, above-mentioned second vertical range are that above-mentioned tested vehicle leaves the tailstock boundary point and first of above-mentioned detection zone in advance
If projection of the distance between the front-wheel boundary point on vehicle heading；It is hung down using above-mentioned first vertical range and above-mentioned second
Straight distance calculates the length information of above-mentioned tested vehicle.
Further, above-mentioned first vertical range is obtained from above-mentioned three-dimensional data information includes: in above-mentioned three-dimensional data
The range information of the above-mentioned first side got in information by above-mentioned first detecting element passes through above-mentioned second detection member
The range information for the above-mentioned second side that part is got determines above-mentioned headstock boundary point, and is obtained by above-mentioned third detecting element
The range information for the above-mentioned third side got determines the above-mentioned first default front-wheel boundary point and the second default front-wheel boundary point；Benefit
With the above-mentioned first default front-wheel boundary point and above-mentioned second default front-wheel boundary point, calculates vehicle heading and above-mentioned first and visit
Survey the angle information of unit or above-mentioned second probe unit scanning surface；Before being preset using above-mentioned headstock boundary point, above-mentioned first
Wheel boundary point and above-mentioned angle information determine above-mentioned first vertical range.
Further, above-mentioned second vertical range is obtained from above-mentioned three-dimensional data information includes: in above-mentioned three-dimensional data
The range information of the above-mentioned first side got in information by above-mentioned first detecting element passes through above-mentioned second detection member
The range information for the above-mentioned second side that part is got determines above-mentioned tailstock boundary point, and is obtained by above-mentioned third detecting element
The range information for the above-mentioned third side got determines the first default front-wheel boundary point and the second default front-wheel boundary point；Using upper
The first default front-wheel boundary point and above-mentioned second default front-wheel boundary point are stated, vehicle heading is calculated and above-mentioned first detection is single
The angle information of first or above-mentioned second probe unit scanning surface；Using above-mentioned tailstock boundary point, above-mentioned first default front wheel edge
Boundary's point and above-mentioned angle information determine above-mentioned second vertical range.
It further, include: upper according to the above-mentioned profile information of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information
It states in three-dimensional data information, the range information of the above-mentioned first side got by above-mentioned first detecting element determines above-mentioned
The range information of the coboundary information of one side or the above-mentioned second side got by above-mentioned second detecting element determines
State the coboundary information of second side；The elevation information of above-mentioned tested vehicle is calculated using determining coboundary information.
Further, the scanning angle of above-mentioned first detecting element is greater than 80 degree, and the light beam of above-mentioned third detecting element is sent out
It dissipates angle and is not more than 0.1 meter no more than the vertical height of 6 milliradians and above-mentioned third detecting element apart from above-mentioned ground level.
According to another aspect of an embodiment of the present invention, a kind of acquisition system of vehicle's contour information is additionally provided, comprising: visit
Device is surveyed, for obtaining the three-dimensional data information of tested vehicle in the detection area, wherein above-mentioned detection device includes: first
Detecting element, for scanning the range information of first side of the above-mentioned tested vehicle in driving direction, the second detecting element is used
In the range information for scanning second side of the above-mentioned tested vehicle in driving direction, third detecting element is above-mentioned for scanning
The range information of third side of the tested vehicle in driving direction, above-mentioned first side with above-mentioned second side is relatively parallel sets
It sets and above-mentioned first side and above-mentioned second side is vertical with ground level, above-mentioned third side is parallel with above-mentioned ground level；Place
Device is managed, is coupled with above-mentioned detection device, for the profile information according to the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information,
Wherein, above-mentioned profile information includes at least one of: length information, width information, elevation information.
Further, the scanning angle of above-mentioned first detecting element is greater than 80 degree, and the light beam of above-mentioned third detecting element is sent out
It dissipates angle and is not more than 0.1 meter no more than the vertical height of 6 milliradians and above-mentioned third detecting element apart from above-mentioned ground level.
According to another aspect of an embodiment of the present invention, a kind of acquisition device of vehicle's contour information is additionally provided, comprising: the
One obtains module, for obtaining the three-dimensional data information of tested vehicle in the detection area by detection device, wherein above-mentioned spy
Surveying device includes: the first detecting element, for scanning the range information of first side of the above-mentioned tested vehicle in driving direction,
Second detecting element, for scanning the range information of second side of the above-mentioned tested vehicle in driving direction, third detection member
Part, for scanning the range information of third side of the above-mentioned tested vehicle in driving direction, above-mentioned first side and above-mentioned the
Two side faces are opposite to be arranged in parallel and above-mentioned first side and above-mentioned second side are vertical with ground level, above-mentioned third side with it is upper
It is parallel to state ground level；
Second obtains module, for the profile information according to the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information, wherein
Above-mentioned profile information includes at least one of: length information, width information, elevation information.
In embodiments of the present invention, the three-dimensional data information of tested vehicle in the detection area is obtained by detection device,
Wherein, above-mentioned detection device includes: the first detecting element, for scanning first side of the above-mentioned tested vehicle in driving direction
Range information, the second detecting element, for scanning the range information of second side of the above-mentioned tested vehicle in driving direction,
Third detecting element, for scanning the range information of third side of the above-mentioned tested vehicle in driving direction, above-mentioned first side
Face is opposite with above-mentioned second side to be arranged in parallel and above-mentioned first side and above-mentioned second side are vertical with ground level, and above-mentioned
Three sides are parallel with above-mentioned ground level；According to the profile information of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information, wherein on
Stating profile information includes at least one of: length information, width information, elevation information.
The embodiment of the present application is smaller by the interference of vehicle movement as a result, has reached the vehicle of accurate detection non-rectilinear traveling
Profile information purpose, thus realize improve detection non-rectilinear traveling vehicle profile information detection efficiency and detection
The technical effect of precision, and then solve existing vehicle overall dimension detection technique and can not accurately detect non-rectilinear Travel vehicle
Profile information the technical issues of.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of step flow chart of the acquisition methods of vehicle's contour information according to an embodiment of the present invention；
Fig. 2 (a) is a kind of scene signal of the acquisition methods of optional vehicle's contour information according to an embodiment of the present invention
Figure one；
Fig. 2 (b) is a kind of scene signal of the acquisition methods of optional vehicle's contour information according to an embodiment of the present invention
Figure two；
Fig. 3 is the top view that a kind of optional third detecting element scans tested vehicle according to embodiments of the present invention；
Fig. 4, which is that one kind of the embodiment of the present invention is optional, calculates vehicle heading and the first detecting element scanning surface or the
The rectangular coordinate system schematic diagram of two detecting element scanning surface angles；
Fig. 5 (a) is a kind of schematic diagram of optional rectangular coordinate system according to embodiments of the present invention；
Fig. 5 (b) is the schematic diagram of another optional rectangular coordinate system according to embodiments of the present invention；
Fig. 5 (c) is the schematic diagram of another optional rectangular coordinate system according to embodiments of the present invention；
Fig. 5 (d) is the schematic diagram of another optional rectangular coordinate system according to embodiments of the present invention；
Fig. 6 is the top view that a kind of optional detection device scans tested vehicle according to embodiments of the present invention；
Fig. 7 (a) is a kind of schematic diagram of optional rectangular coordinate system according to embodiments of the present invention；
Fig. 7 (b) is the schematic diagram of another optional rectangular coordinate system according to embodiments of the present invention；
Fig. 8 is a kind of signal of the angle of departure of the transmitting light beam of optional third detecting element according to embodiments of the present invention
Figure；
Fig. 9 is a kind of structural schematic diagram of the acquisition system of vehicle's contour information according to an embodiment of the present invention；
Figure 10 is a kind of structural schematic diagram of the acquisition device of vehicle's contour information according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to embodiments of the present invention, a kind of embodiment of the acquisition methods of vehicle's contour information is provided, needs to illustrate
It is that step shown in the flowchart of the accompanying drawings can execute in a computer system such as a set of computer executable instructions,
Also, although logical order is shown in flow charts, and it in some cases, can be to be different from sequence execution herein
Shown or described step.
Fig. 1 is a kind of step flow chart of the acquisition methods of vehicle's contour information according to an embodiment of the present invention, such as Fig. 1 institute
Show, this method comprises the following steps:
Step S102 obtains the three-dimensional data information of tested vehicle in the detection area by detection device.
In above-mentioned steps S102, above-mentioned detection device includes: the first detecting element, is existed for scanning above-mentioned tested vehicle
The range information of first side in driving direction, the second detecting element, for scanning above-mentioned tested vehicle in driving direction
Second side range information, third detecting element, for scanning third side of the above-mentioned tested vehicle in driving direction
Range information, above-mentioned first side is opposite with above-mentioned second side to be arranged in parallel and above-mentioned first side and above-mentioned second side
Vertical with ground level, above-mentioned third side is parallel with above-mentioned ground level.
In above-mentioned steps S102, above-mentioned three-dimensional data information includes: the range information of above-mentioned first side, above-mentioned second
The range information of the range information of side and above-mentioned third side.
As a kind of optional embodiment, above-mentioned first detecting element, above-mentioned second detecting element, above-mentioned third detection member
Part all can be but be not limited to laser radar, and above-mentioned detection zone can be the height before vehicle enters high speed detection region
Fast highway ramp region, the detection zone are specifically as follows sense channel.
In the embodiment of the present application, above-mentioned detection zone can be the straight line in the schematic diagram of a scenario one as shown in Fig. 2 (a)
Channel can also may be implemented to lead to for the curved channel in the schematic diagram of a scenario two as shown in Fig. 2 (b), the embodiment of the present application
Cross the technical effect that detection device accurately obtains the three-dimensional data information of tested vehicle in the detection area.
Wherein, it such as Fig. 2 (a) and in the optional schematic diagram of a scenario as shown in Fig. 2 (b), can be, but not limited to include: first
Detecting element 1, the second detecting element 2, third detecting element 3, mounting rack 4, tested vehicle 5.Optionally, above-mentioned first detection member
Part 1, the second detecting element 2, can be mounted on above-mentioned mounting rack 4 such as Fig. 2 (a) or the optional way as shown in Fig. 2 (b),
Optionally, third detecting element 3 can be to be mounted on above-mentioned ground level such as Fig. 2 (a) or the optional way as shown in Fig. 2 (b)
On, detection zone track direction (driving direction of tested vehicle 5) is such as Fig. 2 (a) or as shown in Fig. 2 (b).
In above-mentioned optional embodiment, above-mentioned first detecting element is installed on the top of sense channel, scanning direction with
Ground level is vertical, and for scanning the range information of first side of the tested vehicle in driving direction, above-mentioned first side can be with
But be not limited to include: vehicle left side or right side and the top of vehicle, above-mentioned first detecting element is tested for obtaining
The range information of one side of vehicle and the range information of roof；Above-mentioned second detecting element is installed on above sense channel,
Scanning direction is vertical with ground level, for scanning second side (left side or the right side, and be different from above-mentioned the of tested vehicle
One side), the range information of the second side for obtaining tested vehicle；Wherein, the range information of above-mentioned first side and
The range information of two side faces includes the obtained tested vehicle of scanning in the headstock boundary point range information for initially entering detection zone,
And tailstock boundary point range information of the tested vehicle when leaving detection zone, optionally, above-mentioned first detecting element first
T is denoted as at the time of secondary scanning is to tested vehicle1, t1Indicate that tested vehicle initially enters detection zone, t1Later, it above-mentioned first visits
T is denoted as at the time of element is surveyed for the first time without scanning to tested vehicle2, t2Indicate that tested vehicle leaves detection zone, similarly, on
It states the second detecting element and can also measure and left at the time of above-mentioned tested vehicle initially enters detection zone with above-mentioned tested vehicle
At the time of detection zone.
In addition, above-mentioned third detecting element is installed on the side of sense channel, scanning direction is parallel with ground level, for sweeping
The third side for retouching tested vehicle, the range information of the third side for obtaining tested vehicle, wherein above-mentioned third side
Range information includes scanning obtained tested vehicle in t1And t2The vehicle body range information at moment.In top view as shown in Figure 3,
The third side that third detecting element 3 scans tested vehicle 5 is parallel with ground level.
Wherein, the range information for the third side that above-mentioned third detecting element obtains can include but is not limited to are as follows: vehicle body
Any one or more combination of range information, left and right front-wheel range information.
In an alternative embodiment, the scanning angle of above-mentioned first detecting element is greater than 80 degree, above-mentioned third detection
The beam divergence angle of element is not more than no more than the vertical height of 6 milliradians and above-mentioned third detecting element apart from above-mentioned ground level
0.1 meter.
In above-mentioned optional embodiment, the scanning angle of above-mentioned first detecting element is greater than 80 degree can be in order to above-mentioned the
One detecting element carries out comprehensive scanning to above-mentioned first side, in case the range information of the above-mentioned first side scanned is not
Accurately, vertical height of the above-mentioned third detecting element apart from above-mentioned ground level is not more than 0.1 meter, it is ensured that above-mentioned third detection
Element is not higher than the domain of vehicle, and the beam divergence angle of above-mentioned third detecting element can guarantee above-mentioned the no more than 6 milliradians
The light beam that three detecting elements get to Chinese herbaceous peony wheel is not in scatterplot.
In the embodiment of the present application, the vertical range of the liftoff plane in the chassis of above-mentioned tested vehicle is about 20cm, it is general and
Speech, vertical height of the above-mentioned third detecting element apart from ground level are not more than 0.1m, and the most flood apart from above-mentioned tested vehicle
Flat distance is no more than 30m, then the angle of divergence of the transmitting light beam of above-mentioned third detecting element must be not more than 6mrad, can just protect
Demonstrate,proving the light beam that above-mentioned third detecting element gets to Chinese herbaceous peony wheel is not in scatterplot.
Step S104, according to the profile information of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information, wherein above-mentioned profile
Information includes at least one of: length information, width information, elevation information.
In the embodiment of the present application, by the processor coupled with above-mentioned detection device, three-dimensional cartesian coordinate system is established, it is right
The three-dimensional data information of the tested vehicle that above-mentioned detection device obtains in the detection area is handled, and is obtained tested vehicle and is being examined
The three-dimensional coordinate information in region is surveyed, and above-mentioned three-dimensional coordinate information is handled, obtains corresponding above-mentioned tested vehicle
Profile information, for example, the length information of above-mentioned tested vehicle, width information, elevation information.
Also, in the embodiment of the present application, before tested vehicle enters high speed detection region, by highway circle
A set of system corresponding with the acquisition methods of above-mentioned vehicle's contour information is installed in the detection zone in road, obtains all tested vehicles
Profile information, solve vehicle travelled on bend and vehicle movement interference cause vehicle's contour information measurement inaccuracy ask
Topic, improves measurement accuracy rate, and then may be implemented to install the same detection effect of more set equipment in charge station's entrance, thus greatly
Width has saved construction cost.
The embodiment of the present application is smaller by the interference of vehicle movement as a result, has reached the vehicle of accurate detection non-rectilinear traveling
Profile information purpose, thus realize improve detection non-rectilinear traveling vehicle profile information detection efficiency and detection
The technical effect of precision, and then solve existing vehicle overall dimension detection technique and can not accurately detect non-rectilinear Travel vehicle
Profile information the technical issues of.
Using the acquisition methods of vehicle's contour information provided by the embodiment of the present application, without requiring straight line to travel,
Only a set of equipment, which need to be installed, on the Entrance ramp at high speed charge station or station of transfiniting can be achieved with accurately detecting all vehicles
Profile information, thus save the cost.
In an alternative embodiment, believed according to the above-mentioned profile of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information
Breath includes:
Step S202 obtains the range information of above-mentioned first side, above-mentioned second side from above-mentioned three-dimensional data information
Range information, above-mentioned third side range information and above-mentioned tested vehicle driving direction and above-mentioned first detecting element
The angle information of scanning surface or above-mentioned second detecting element scanning surface；
Step S204, using the range information of above-mentioned first side, the range information and above-mentioned folder of above-mentioned second side
Angle information calculates the width information of above-mentioned tested vehicle.
In an alternative embodiment, above-mentioned first detecting element real time scan tested vehicle first side (for example,
Right side), the range information { P of the vehicle body right side of tested vehicle in the detection area is obtained in real timer1, Pr2..., Prn}；
The second side (for example, left side) of above-mentioned second detecting element real time scan tested vehicle, obtains tested vehicle in real time and is examining
Survey the range information { P of the vehicle body left side in regionl1, Pl2..., PlnAnd above-mentioned third detecting element real time scan
The third side of tested vehicle obtains the driving direction and above-mentioned first detecting element scanning surface or above-mentioned the of tested vehicle in real time
Angle information { the α of two detecting element scanning surfacest1, αt2..., αtn, and then the processor in the embodiment of the present application can be adopted
With the range information of above-mentioned first side, the range information of above-mentioned second side and above-mentioned angle information, it is calculated above-mentioned
The width information of tested vehicle.
As a kind of optional embodiment, the tested vehicle scanned according to above-mentioned third detecting element is in detection zone
In partial distance information, obtain the side range information of tested vehicle, and according to the side range information of tested vehicle, obtain
The angle information of the driving direction of tested vehicle and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface；
The distance of the tested vehicle scanned according to above-mentioned first detecting element, above-mentioned second detecting element in the detection area is believed
Breath obtains the left and right range information of tested vehicle vehicle body；It is swept according to the driving direction of tested vehicle and above-mentioned first detecting element
The angle information in face or above-mentioned second detecting element scanning surface and the left and right range information of tested vehicle are retouched, tested vechicle is acquired
Width information.
In an alternative embodiment, the distance letter of above-mentioned first side is obtained from above-mentioned three-dimensional data information
It ceases, the range information of above-mentioned second side includes:
Step S302 scans above-mentioned first side by above-mentioned first detecting element, by above-mentioned tested vehicle in above-mentioned inspection
The three-dimensional data information for the above-mentioned first side surveyed in region is converted to three-dimensional coordinate information；
Step S304 searches the level that distance in above-mentioned first side corresponds to sense channel using above-mentioned three-dimensional coordinate information
Apart from nearest boundary point, and determine using the boundary point found the range information of above-mentioned first side.
In above-mentioned steps S302 into step S304, by the scanning of the first detecting element perpendicular to the first side of ground level
Face obtains the real-time three-dimensional data information of tested vehicle in the detection area, carries out rectangular co-ordinate conversion to three-dimensional data information
Real-time three-dimensional coordinate information is obtained, and is found out on the right side of vehicle body most from horizontal distance on the right side of sense channel according to the three-dimensional coordinate information
Close boundary point (right margin point), obtains the right range information { P of the real-time vehicle body of tested vehicle in the detection arear1,
Pr2..., Prn}。
Step S306 scans above-mentioned second side by above-mentioned second detecting element, by above-mentioned tested vehicle in above-mentioned inspection
The three-dimensional data information for the above-mentioned second side surveyed in region is converted to three-dimensional coordinate information；
Step S308 searches the level that distance in above-mentioned second side corresponds to sense channel using above-mentioned three-dimensional coordinate information
Apart from nearest boundary point, and determine using the boundary point found the range information of above-mentioned second side.
In above-mentioned steps S306 into step S308, by the scanning of the second detecting element perpendicular to second side of ground level
Face, the real-time three-dimensional data information of obtained tested vehicle in the detection area carry out rectangular co-ordinate to three-dimensional data information and turn
It gets real-time three-dimensional coordinate information in return, finds out boundary point (left margin nearest from horizontal distance on the left of sense channel on the left of vehicle body
Point), obtain the left range information { P of the real-time vehicle body of tested vehicle in the detection areal1, Pl2..., Pln}。
As a kind of optional embodiment, the range information packet of above-mentioned third side is obtained from above-mentioned three-dimensional data information
It includes:
Step S402, using in the above-mentioned above-mentioned tested vehicle of three-dimensional data information searching between above-mentioned third detecting element
The smallest the near front wheel boundary point of vertical range and off-front wheel boundary point；
Step S404 is scanned according to boundary point line and above-mentioned first detecting element scanning surface or above-mentioned second detecting element
The leading angle of working as in face determines above-mentioned angle information, wherein before above-mentioned boundary point line is above-mentioned the near front wheel boundary point and the above-mentioned right side
Take turns the line between boundary point.
In an alternative embodiment, it is parallel to the third side of ground level by the scanning of third detecting element, obtains
The real-time three-dimensional data information of the third side of tested vehicle in the detection area carries out rectangular co-ordinate to three-dimensional data information and turns
It gets real-time three-dimensional coordinate information in return, finds out from the smallest the near front wheel boundary point of third detecting element vertical range and off-front wheel side
Boundary's point, line between above-mentioned the near front wheel boundary point and above-mentioned off-front wheel boundary point are boundary point line, the boundary point line with
Above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface work as leading angle, i.e. { βt1, βt2...,
βtn, { βt1, βt2..., βtnAnd above-mentioned tested vehicle angle information { αt1, αt2..., αtnMutually remaining one by one, such as
There is also a kind of optional embodiment, in schematic diagram as shown in Figure 4,3 be third detecting element, and B is third spy
The near front wheel boundary point of tested vehicle that element 3 scan is surveyed, before the right side for the tested vehicle that C scans for third detecting element 3
Take turns boundary point, boundary point line of the BC between the near front wheel boundary point B and off-front wheel boundary point C, αtFor tested vehicle traveling side
Work as leading angle, β to above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surfacetFor boundary point line with
Above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface work as leading angle.
As shown in figure 4, in the embodiment of the present application can with but be not limited to projection with the first detecting element on ground level
Point is origin O (0,0), to be parallel to the first detecting element scanning surface direction as X-axis, perpendicular to the first detecting element scanning surface
For Y-axis, rectangular coordinate system XOY is established, the third side of tested vehicle is scanned by third detecting element, is got above-mentioned tested
The smallest off-front wheel boundary point C (x of vertical range between vehicle and above-mentioned third detecting element 3c, yc) and the near front wheel boundary point B
(xb, yb), the angle information α of above-mentioned tested vehicle can be calculated in real timetAnd βt,
As shown in Fig. 5 (a), in rectangular coordinate system XOY, the real-time angle β of tested vehicle 5 (vertical view)tIt is biased to tested vehicle
Coordinate system XOY is rotated clockwise angle beta by left side detection zonet, obtain the rectangular coordinate system X in Fig. 5 (b)1O1Y1, rotation angle
DegreePositive value is denoted as,The real-time angle β of tested vehicle 5 (vertical view) in Fig. 5 (c)tIt is biased to surveyed vehicle right side detection zone
Domain, by coordinate system XOY rotated counterclockwise by angle βt, obtain the rectangular coordinate system X in Fig. 5 (d)1O1Y1, rotate angleIt is denoted as negative
Value,Then according to rectangular coordinate system transformational relation, tested vehicle left margin point P in Fig. 5 (a) and Fig. 5 (c)lt(xlt,
ylt) and right margin point Prt(xrt, yrt), the corresponding coordinate P in Fig. 5 (b) and 5 (d)lt′(xlt', ylt') and Prt′
(xrt', yrt'), wherein above-mentioned P is not shown into Fig. 5 (d) by Fig. 5 (a)lt、Prt、Plt′、Prt', and above-mentioned Plt、Prt、Plt′、
Prt' following formula can be used to calculate:
By can be calculated all left margin points above in rectangular coordinate system X1O1Y1Middle abscissa point set S { xl1',
xl2' ... xln' and all right margins point in rectangular coordinate system X1O1Y1Middle abscissa point set R { xr1',
xr2' ... xrn', while recording these boundary points corresponding abscissa information in rectangular coordinate system XOY, it may be assumed that
{xl1', xl2' ... xln′}→{xl1, xl2... xln}{xr1', xr2' ... xrn′}→{xr1,
xr2... xrn}。
In the embodiment of the present application, to the descending sequence of set S, the maximum value in set S is denoted as xl max', calculate collection
Close all elements and x in Sl max' difference, take out all differences no more than lidar measurement error in set S { xl1',
xl2' ... xln' in corresponding element, obtain new set Smax{xl1 max', xl2 max', xl3 max' ...,
xlN max', ascending sequence is carried out to set R, the minimum value in set R is denoted as xr min', all elements in set of computations R
With xr min' difference, take out all differences no more than lidar measurement error in set R { xr1', xr2' ... xrn' in
Corresponding element obtains new set Rmin{xr1 min', xr2 min', xr3 min' ..., xrM min′}。
Set of computations SmaxThe average value of middle all elements obtains
Set of computations RminThe average value of middle all elements obtains
Calculate the width information W of tested vehicle:
In an alternative embodiment, according to the above-mentioned profile of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information
Information includes:
Step S502 obtains the first vertical range and the second vertical range from above-mentioned three-dimensional data information, wherein above-mentioned
First vertical range be above-mentioned tested vehicle enter above-mentioned detection zone headstock boundary point and the first default front-wheel boundary point it
Between projection of the distance on vehicle heading, above-mentioned second vertical range is that above-mentioned tested vehicle leaves above-mentioned detection zone
The projection on vehicle heading of tailstock boundary point and the distance between the first default front-wheel boundary point；
Step S504 calculates the length of above-mentioned tested vehicle using above-mentioned first vertical range and above-mentioned second vertical range
Information.
In an alternative embodiment, the embodiment of the present application enters the vehicle of above-mentioned detection zone by obtaining tested vehicle
The projection of head the distance between boundary point and the first default front-wheel boundary point on vehicle heading, i.e. the first vertical range
LHL；And it obtains tested vehicle and leaves the distance between tailstock boundary point and first default front-wheel boundary point of above-mentioned detection zone
Projection on vehicle heading, i.e. the second vertical range LTL, wherein above-mentioned first default front-wheel can be, but not limited to as quilt
The near front wheel of measuring car；Using above-mentioned first vertical range LHLWith above-mentioned second vertical range LTLCalculate the length of tested vehicle.
In schematic diagram of a scenario as shown in FIG. 6, it can be, but not limited to include: the first detecting element 1, the second detecting element
2, third detecting element 3, tested vehicle 5, D is the off-front wheel of tested vehicle 5, and E is the near front wheel of tested vehicle 5.
By the range information of above-mentioned first side or the range information of above-mentioned second side, obtains tested vehicle and opening
Begin the headstock boundary point information for entering detection zone；By the range information of above-mentioned first side or above-mentioned second side away from
From information, tested vehicle is obtained in the tailstock boundary point information for leaving detection zone；And the distance by above-mentioned third side
Information obtains tested vehicle in the vehicle body range information for entering and leaving detection zone；In conjunction with tested vehicle driving direction with it is upper
The angle information for stating the first detecting element scanning surface or above-mentioned second detecting element scanning surface calculates the headstock boundary of tested vehicle
Point to Chinese herbaceous peony wheel projector distance and tested vehicle of the distance on vehicle heading tailstock boundary point to Chinese herbaceous peony wheel away from
From the projector distance on vehicle heading；In conjunction with obtained tested vehicle headstock boundary point to Chinese herbaceous peony wheel distance in vehicle
The tailstock boundary point of projector distance and tested vehicle in driving direction to Chinese herbaceous peony wheel distance on vehicle heading
Projector distance calculates the length information of tested vehicle.
As shown in Fig. 7 (a) and Fig. 7 (b), using the intersection point of the 1 place upright bar of the first detecting element and ground level as origin, with the
One detecting element, 1 scan plane direction is X-axis, as Y-axis, to establish right angle perpendicular to 1 scan plane direction of the first detecting element
Coordinate system, wherein 1 is the first detecting element, and 2 be the second detecting element, and 3 be third detecting element, and D is the right side of tested vehicle 5
Front-wheel, E are the near front wheel of tested vehicle 5, and EG is the near front wheel E of tested vehicle to the vertical of 1 plane of scanning motion of the first detecting element
Distance HEG。
Fig. 7 (a) is the left front vertical range L for taking turns to headstock boundary point for calculating tested vehicleHLRectangular coordinate system signal
Figure, wherein F (xF, O) and it is the headstock boundary point of tested vehicle that the first detecting element 1 scans, E (xE, yE) it is the first detection
The near front wheel boundary point for the tested vehicle that element 1 scans, EH are the vertical range of the near front wheel E to tested vehicle left border H,
That is E point is to straight line lHFVertical range HEH, FH is vertical range L of the near front wheel E to tested vehicle headstock boundary pointHL, according to
The coordinate information of point F, is scanned according to third detecting element 3 known to the range information that one detecting element 1 scanning tested vehicle obtains
The vehicle front-wheel information that tested vehicle obtains, it is known that the coordinate of point D and point E, to know the real-time angle α of tested vehicle 5t,
Can then linear equation be obtained according to point slope form: lHF: y=(x-xF)tanαt, using point to straight line range formula it is availableAccording to the coordinate of E point and F point, it can calculate EF's using distance between two points formula
LengthThenSubstitute into HEHAnd LEFValue can obtain the near front wheel E
To the vertical range of tested vehicle headstock boundary pointThe coordinate for substituting into E point and F point can acquire
The near front wheel E to tested vehicle 5 headstock boundary point vertical range LHL。
Fig. 7 (b) is the left front vertical range L for taking turns to the tailstock for calculating tested vehicle 5TLRectangular coordinate system schematic diagram,
In, F (xF', 0) it is the tailstock boundary point of tested vehicle that the first detecting element 1 scans, E (xE', yE') it is the first detection member
The near front wheel boundary point for the tested vehicle that part 1 scans, EH are the near front wheel E to the vertical range of tested vehicle left border, i.e. E
Point arrives straight line lHF' vertical range HEH', FH is vertical range L of the near front wheel E to tested vehicle tailstock boundary pointFH', according to
The coordinate information of point F, is scanned according to third detecting element 3 known to the range information that one detecting element 1 scanning tested vehicle obtains
The vehicle front-wheel information that tested vehicle obtains, it is known that the coordinate of point D and point E, to know the real-time angle α of tested vehicle 5t',
Can then linear equation be obtained according to point slope form: lHF': y=(x-xF′)tanαt', then
According to the coordinate of E point and F point, the length of EF can be calculated using distance between two points formula
ThenSubstitute into HEH' and LEF' value can obtainThe coordinate for substituting into E point and F point can be asked
The near front wheel E to tested vehicle tailstock boundary point the second vertical range LTL。
According to left front the first vertical range L for taking turns to headstock boundary point of Fig. 7 (a) tested vehicle calculatedHLWith Fig. 7 (b)
Left front the second vertical range L for taking turns to tailstock boundary point of the tested vehicle of calculatingTL, the length of tested vehicle can be calculated
Information L=LHL+LTL。
In an alternative embodiment, above-mentioned first vertical range is obtained from above-mentioned three-dimensional data information includes:
Step S602, the above-mentioned first side got in above-mentioned three-dimensional data information by above-mentioned first detecting element
Range information or the range information of the above-mentioned second side got by above-mentioned second detecting element determine above-mentioned headstock side
Boundary's point, and the range information of above-mentioned third side that is got by above-mentioned third detecting element determine above-mentioned first it is default before
Take turns boundary point and the second default front-wheel boundary point；
Step S604 calculates vehicle using the above-mentioned first default front-wheel boundary point and above-mentioned second default front-wheel boundary point
The angle information of driving direction and above-mentioned first probe unit or above-mentioned second probe unit scanning surface；
Step S606 is determined using above-mentioned headstock boundary point, above-mentioned first default front-wheel boundary point and above-mentioned angle information
Above-mentioned first vertical range.
Optionally, in the embodiment of the present application, it can be, but not limited in above-mentioned three-dimensional data information through the first detection
The distance for the above-mentioned second side that the range information or the second detecting element for the above-mentioned first side that element is got are got is believed
Breath, it is above-mentioned to determine that the range information for the above-mentioned third side that above-mentioned headstock boundary point and third detecting element are got determines
First default front-wheel boundary point and the second default front-wheel boundary point, in conjunction with vehicle heading and above-mentioned first probe unit or
The angle information of above-mentioned second probe unit scanning surface, be calculated headstock boundary point to Chinese herbaceous peony wheel the first vertical range LHL。
In an alternative embodiment, above-mentioned second vertical range is obtained from above-mentioned three-dimensional data information includes:
Step S608, the above-mentioned first side got in above-mentioned three-dimensional data information by above-mentioned first detecting element
Range information or the range information of the above-mentioned second side got by above-mentioned second detecting element determine above-mentioned tailstock side
Boundary's point, and the range information of above-mentioned third side got by above-mentioned third detecting element determine the first default front wheel edge
Boundary's point and the second default front-wheel boundary point；
Step S610 calculates vehicle using the above-mentioned first default front-wheel boundary point and above-mentioned second default front-wheel boundary point
The angle information of driving direction and above-mentioned first probe unit or above-mentioned second probe unit scanning surface；
Step S612, it is true using above-mentioned tailstock boundary point, above-mentioned first default front-wheel boundary point and above-mentioned angle information
Fixed above-mentioned second vertical range.
Optionally, in the embodiment of the present application, it can be, but not limited in above-mentioned three-dimensional data information through the first detection
The distance for the above-mentioned second side that the range information or the second detecting element for the above-mentioned first side that element is got are got is believed
Breath, it is above-mentioned to determine that the range information for the above-mentioned third side that above-mentioned tailstock boundary point and third detecting element are got determines
First default front-wheel boundary point and the second default front-wheel boundary point, in conjunction with vehicle heading and above-mentioned first probe unit or
The angle information of above-mentioned second probe unit scanning surface, be calculated tailstock boundary point to Chinese herbaceous peony wheel the second vertical range LTL。
It in turn, can be according to the first vertical range L in the embodiment of the present applicationHLWith the second vertical range LTL, be calculated by
The length information L of measuring car.
In an alternative embodiment, believed according to the above-mentioned profile of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information
Breath includes:
Step S702, in above-mentioned three-dimensional data information, above-mentioned first side that is got by above-mentioned first detecting element
The range information in face determine the coboundary information of above-mentioned first side or got by above-mentioned second detecting element above-mentioned
The range information of two side faces determines the coboundary information of above-mentioned second side；
Step S704 calculates the elevation information of above-mentioned tested vehicle using determining coboundary information.
Fig. 8 is a kind of signal of the angle of departure of the transmitting light beam of optional third detecting element 3 according to embodiments of the present invention
Figure, the angle of divergence θ of the transmitting light beam of third detecting element 3；It should be noted that the liftoff plane in the chassis of tested vehicle is vertical
Distance about 20cm, it is however generally that, maximum horizontal range of the above-mentioned third detecting element apart from tested vehicle is no more than 30m, then
The angle of divergence alpha of the transmitting light beam of above-mentioned third detecting element must be not more than 6mrad, and the vertical height apart from ground level is little
In 0.1m, the light beam that can just guarantee that third detecting element gets to Chinese herbaceous peony wheel is not in scatterplot.
In the embodiment of the present application, it in above-mentioned three-dimensional data information, is got by above-mentioned first detecting element upper
The range information for stating first side determines the coboundary information of above-mentioned first side or is got by above-mentioned second detecting element
The range information of above-mentioned second side determine the coboundary information of above-mentioned second side, and according to the tested vehicle got
Coboundary information calculates the elevation information of tested vehicle.
Embodiment 2
According to embodiments of the present invention, it additionally provides a kind of for implementing the system of the acquisition methods of above-mentioned vehicle's contour information
Embodiment, Fig. 9 is a kind of structural schematic diagram of the acquisition system of vehicle's contour information according to an embodiment of the present invention, such as Fig. 9 institute
Show, the acquisition system 900 of above-mentioned vehicle's contour information, comprising: detection device 90 and processor 92, in which:
Detection device 90, for obtaining the three-dimensional data information of tested vehicle in the detection area, wherein above-mentioned detection dress
Setting includes: the first detecting element 1, for scanning the range information of first side of the above-mentioned tested vehicle in driving direction, the
Two detecting elements 2, for scanning the range information of second side of the above-mentioned tested vehicle in driving direction, third detecting element
3, for scanning the range information of third side of the above-mentioned tested vehicle in driving direction, above-mentioned first side and above-mentioned second
Side is opposite to be arranged in parallel and above-mentioned first side and above-mentioned second side are vertical with ground level, above-mentioned third side with it is above-mentioned
Ground level is parallel；Processor 92 is coupled with above-mentioned detection device 90, for according to the above-mentioned above-mentioned quilt of three-dimensional data acquisition of information
The profile information of measuring car, wherein above-mentioned profile information includes at least one of: length information, width information, height are believed
Breath.
As a kind of optional embodiment, above-mentioned first detecting element, the second detecting element, third detecting element can be with
For but be not limited to laser radar, above-mentioned detection zone can be the highway circle before vehicle enters high speed detection region
Road region, the detection zone are specifically as follows sense channel.
In the embodiment of the present application, above-mentioned sense channel can be the straight line in the schematic diagram of a scenario one as shown in Fig. 2 (a)
Channel can also may be implemented to lead to for the curved channel in the schematic diagram of a scenario two as shown in Fig. 2 (b), the embodiment of the present application
Cross the technical effect that detection device accurately obtains the three-dimensional data information of tested vehicle in the detection area.
In above-mentioned optional embodiment, above-mentioned first detecting element is installed on the top of sense channel, scanning direction with
Ground level is vertical, and for scanning the range information of first side of the tested vehicle in driving direction, above-mentioned first side can be with
But be not limited to include: vehicle left side or right side and the top of vehicle, a side of available tested vehicle
The range information of range information and roof；Above-mentioned second detecting element is installed on above sense channel, scanning direction and ground level
Vertically, it for scanning the second side (left side or right side, and be different from above-mentioned first side) of tested vehicle, obtains tested
The range information of the second side of vehicle；Wherein, the range information of above-mentioned first side and the range information of second side include
It scans obtained tested vehicle and is leaving detection zone in the headstock distance information and tested vehicle for initially entering detection zone
When tailstock range information be optionally denoted as t at the time of the scanning for the first time of above-mentioned first detecting element is to tested vehicle1, t1Table
Show that tested vehicle initially enters detection zone, in t1Later, above-mentioned first detecting element arrives tested vehicle without scanning for the first time
At the time of be denoted as t2, t2Indicate that tested vehicle leaves detection zone, similarly, above-mentioned second detecting element can also measure tested vechicle
At the time of initially entering detection zone and at the time of tested vehicle leaves detection zone.
In addition, above-mentioned third detecting element is installed on the side of sense channel, scanning direction is parallel with ground level, for sweeping
The third side for retouching tested vehicle obtains the range information of the third side of tested vehicle, wherein the distance of above-mentioned third side
Information includes scanning obtained tested vehicle in t1And t2The vehicle body range information at moment.In top view as shown in Figure 3, third
The third side that detecting element 3 scans tested vehicle 5 is parallel with ground level.
Wherein, the range information for the third side that above-mentioned third detecting element obtains can include but is not limited to are as follows: vehicle body
Any one or more combination of range information, left and right front-wheel range information.
In an alternative embodiment, the scanning angle of above-mentioned first detecting element is greater than 80 degree, above-mentioned third detection
The beam divergence angle of element is not more than no more than the vertical height of 6 milliradians and above-mentioned third detecting element apart from above-mentioned ground level
0.1 meter.
In above-mentioned optional embodiment, the scanning angle of above-mentioned first detecting element is greater than 80 degree can be in order to above-mentioned the
One detecting element carries out comprehensive scanning to above-mentioned first side, in case the range information of the above-mentioned first side scanned is not
Accurately, vertical height of the above-mentioned third detecting element apart from above-mentioned ground level is not more than 0.1 meter, it is ensured that above-mentioned third detection
Element is not higher than the domain of vehicle, and the beam divergence angle of above-mentioned third detecting element can guarantee above-mentioned the no more than 6 milliradians
The light beam that three detecting elements get to Chinese herbaceous peony wheel is not in scatterplot.
In the embodiment of the present application, the vertical range of the liftoff plane in the chassis of above-mentioned tested vehicle is about 20cm, it is general and
Speech, vertical height of the above-mentioned third detecting element apart from ground level be not more than 0.1m, and the maximum horizontal apart from tested vehicle away from
From 30m is no more than, then the angle of divergence of the transmitting light beam of above-mentioned third detecting element must be not more than 6mrad, can just guarantee the
The light beam that three detecting elements get to Chinese herbaceous peony wheel is not in scatterplot.
In the embodiment of the present application, by the processor coupled with above-mentioned detection device, three-dimensional cartesian coordinate system is established, it is right
The three-dimensional data information of the tested vehicle that above-mentioned detection device obtains in the detection area is handled, and is obtained tested vehicle and is being examined
The three-dimensional coordinate information in region is surveyed, and above-mentioned three-dimensional coordinate information is handled, obtains corresponding above-mentioned tested vehicle
Profile information, for example, the length information of above-mentioned tested vehicle, width information, elevation information.
Also, in the embodiment of the present application, before tested vehicle enters high speed detection region, by highway circle
A set of system corresponding with the acquisition methods of above-mentioned vehicle's contour information is installed in the detection zone in road, obtains all tested vehicles
Profile information, solve vehicle travelled on bend and vehicle movement interference cause vehicle's contour information measurement inaccuracy ask
Topic, improves measurement accuracy rate, and then may be implemented to install the same detection effect of more set equipment in charge station's entrance, but
Construction cost is substantially saved.
The embodiment of the present application is smaller by the interference of vehicle movement as a result, has reached the vehicle of accurate detection non-rectilinear traveling
Profile information purpose, thus realize improve detection non-rectilinear traveling vehicle profile information detection efficiency and detection
The technical effect of precision, and then solve existing vehicle overall dimension detection technique and can not accurately detect non-rectilinear Travel vehicle
Profile information the technical issues of.
In an alternative embodiment, above-mentioned processor 92 is also used to obtain above-mentioned from above-mentioned three-dimensional data information
The range information of one side, the range information of above-mentioned second side, above-mentioned third side range information and above-mentioned tested vechicle
The angle information of driving direction and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface；Using above-mentioned
The range information of first side, the range information of above-mentioned second side and above-mentioned angle information calculate the width of above-mentioned tested vehicle
Spend information.
In an alternative embodiment, above-mentioned processor 92 is also used to scan above-mentioned the by above-mentioned first detecting element
The three-dimensional data information of above-mentioned first side of the above-mentioned tested vehicle in above-mentioned detection zone is converted to three-dimensional seat by one side
Mark information；Using above-mentioned three-dimensional coordinate information search distance in above-mentioned first side correspond to sense channel horizontal distance it is nearest
Boundary point, and determine using the boundary point that finds the range information of above-mentioned first side；It is swept by above-mentioned second detecting element
Above-mentioned second side is retouched, the three-dimensional data information of above-mentioned second side of the above-mentioned tested vehicle in above-mentioned detection zone is converted
For three-dimensional coordinate information；Using above-mentioned three-dimensional coordinate information search distance in above-mentioned second side correspond to sense channel it is horizontal away from
From nearest boundary point, and determine using the boundary point found the range information of above-mentioned second side.
In an alternative embodiment, above-mentioned processor 92 is also used to utilize the above-mentioned above-mentioned quilt of three-dimensional data information searching
The smallest the near front wheel boundary point of vertical range and off-front wheel boundary point in measuring car between above-mentioned third detecting element；According to
Boundary point line and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface when leading angle determine it is above-mentioned
Angle information, wherein line of the above-mentioned boundary point line between above-mentioned the near front wheel boundary point and above-mentioned off-front wheel boundary point.
In an alternative embodiment, above-mentioned processor 92 is also used to obtain first from above-mentioned three-dimensional data information and hang down
Straight distance and the second vertical range, wherein above-mentioned first vertical range is the vehicle that above-mentioned tested vehicle enters above-mentioned detection zone
The projection of head the distance between boundary point and the first default front-wheel boundary point on vehicle heading, above-mentioned second vertical range
The distance between tailstock boundary point and first default front-wheel boundary point for leaving above-mentioned detection zone for above-mentioned tested vehicle is in vehicle
Projection in driving direction；The length of above-mentioned tested vehicle is calculated using above-mentioned first vertical range and above-mentioned second vertical range
Spend information.
In an alternative embodiment, above-mentioned processor 92 is also used in above-mentioned three-dimensional data information by above-mentioned the
The range information for the above-mentioned first side that one detecting element is got or got by above-mentioned second detecting element above-mentioned
The range information of two side faces determines above-mentioned headstock boundary point, and the above-mentioned third side got by above-mentioned third detecting element
The range information in face determines the above-mentioned first default front-wheel boundary point and the second default front-wheel boundary point；Before being preset using above-mentioned first
Boundary point and above-mentioned second default front-wheel boundary point are taken turns, vehicle heading and above-mentioned first probe unit or above-mentioned the are calculated
The angle information of two probe unit scanning surfaces；Using above-mentioned headstock boundary point, above-mentioned first default front-wheel boundary point and above-mentioned folder
Angle information determines above-mentioned first vertical range.
In an alternative embodiment, above-mentioned processor 92 is also used in above-mentioned three-dimensional data information by above-mentioned the
The range information for the above-mentioned first side that one detecting element is got or got by above-mentioned second detecting element above-mentioned
The range information of two side faces determines above-mentioned tailstock boundary point, and the above-mentioned third side got by above-mentioned third detecting element
The range information in face determines the first default front-wheel boundary point and the second default front-wheel boundary point；Utilize the above-mentioned first default front wheel edge
Boundary's point and above-mentioned second default front-wheel boundary point calculate vehicle heading and above-mentioned first probe unit or above-mentioned second spy
Survey the angle information in unit scan face；Using above-mentioned tailstock boundary point, above-mentioned first default front-wheel boundary point and above-mentioned angle
Information determines above-mentioned second vertical range.
In an alternative embodiment, above-mentioned processor 92 is also used in above-mentioned three-dimensional data information, by above-mentioned
The range information for the above-mentioned first side that first detecting element is got determines the coboundary information of above-mentioned first side or passes through
The range information for the above-mentioned second side that above-mentioned second detecting element is got determines the coboundary information of above-mentioned second side；Benefit
The elevation information of above-mentioned tested vehicle is calculated with determining coboundary information.
It should be noted that the specific structure of the acquisition system of vehicle's contour information shown in Fig. 9 in the application is only
Signal, in specific application, the acquisition system of the vehicle's contour information in the application can be than vehicle's contour information shown in Fig. 9
Acquisition system have more or few structures.
Still need to obtaining for any one the optional or preferred vehicle's contour information being noted that in above-described embodiment 1
Method is taken, can execute or realize in the acquisition system of vehicle's contour information provided by the present embodiment.
In addition, the optional or preferred embodiment of the present embodiment may refer to the associated description in embodiment 1, herein no longer
It repeats.
Embodiment 3
According to embodiments of the present invention, it additionally provides a kind of for implementing the device of the acquisition methods of above-mentioned vehicle's contour information
Embodiment, Figure 10 are a kind of structural schematic diagram of the acquisition device of vehicle's contour information according to an embodiment of the present invention, such as Figure 10
It is shown, the acquisition device 1000 of above-mentioned vehicle's contour information, comprising: first, which obtains module 102 and second, obtains module 104,
In,
First obtains module 102, believes for obtaining the three-dimensional data of tested vehicle in the detection area by detection device
Breath, wherein above-mentioned detection device includes: the first detecting element, for scanning above-mentioned tested vehicle first in driving direction
The range information of side, the second detecting element, for scanning the distance of second side of the above-mentioned tested vehicle in driving direction
Information, third detecting element, for scanning the range information of third side of the above-mentioned tested vehicle in driving direction, above-mentioned
One side is opposite with above-mentioned second side to be arranged in parallel and above-mentioned first side and above-mentioned second side are vertical with ground level, on
It is parallel with above-mentioned ground level to state third side；Second obtains module 104, for according to the above-mentioned above-mentioned quilt of three-dimensional data acquisition of information
The profile information of measuring car, wherein above-mentioned profile information includes at least one of: length information, width information, height are believed
Breath.
It should be noted that above-mentioned modules can be realized by software or hardware, for example, for the latter,
Can be accomplished by the following way: above-mentioned modules can be located in same processor；Alternatively, above-mentioned modules are with any
Combined mode is located in different processors.
Herein it should be noted that above-mentioned first obtains module 102 and the second acquisition module 104 corresponding in embodiment 1
Step S102 to step S104, above-mentioned module is identical as example and application scenarios that corresponding step is realized, but is not limited to
1 disclosure of that of above-described embodiment.It should be noted that above-mentioned module may operate in computer as a part of device
In terminal.
It should be noted that the optional or preferred embodiment of the present embodiment may refer to the associated description in embodiment 1,
Details are not described herein again.
The acquisition device of above-mentioned vehicle's contour information can also include processor and memory, and above-mentioned first obtains module
102 and second obtain module 104 it is equal as program unit storage in memory, executed and stored in memory by processor
Above procedure unit realize corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel, above-mentioned kernel can be set
One or more.Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM)
And/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one
Storage chip.
According to the embodiment of the present application, a kind of storage medium embodiment is additionally provided.Optionally, in the present embodiment, above-mentioned
Storage medium includes the program of storage, wherein equipment where controlling above-mentioned storage medium in above procedure operation executes above-mentioned
The acquisition methods of any one vehicle's contour information.
Optionally, in the present embodiment, above-mentioned storage medium can be located in computer network in computer terminal group
In any one terminal, or in any one mobile terminal in mobile terminal group, above-mentioned storage medium packet
Include the program of storage.
Optionally, when program is run, equipment where control storage medium executes following functions: being obtained by detection device
The three-dimensional data information of tested vehicle in the detection area, wherein above-mentioned detection device includes: the first detecting element, for sweeping
The range information of first side of the above-mentioned tested vehicle in driving direction is retouched, the second detecting element is above-mentioned tested for scanning
The range information of second side of the vehicle in driving direction, third detecting element are being travelled for scanning above-mentioned tested vehicle
The range information of third side on direction, above-mentioned first side is opposite with above-mentioned second side to be arranged in parallel and above-mentioned first side
Face and above-mentioned second side are vertical with ground level, and above-mentioned third side is parallel with above-mentioned ground level；According to above-mentioned three-dimensional data
The profile information of the above-mentioned tested vehicle of acquisition of information, wherein above-mentioned profile information includes at least one of: length information, width
Spend information, elevation information.
Optionally, when program is run, equipment where control storage medium executes following functions: believing from above-mentioned three-dimensional data
Obtained in breath the range information of above-mentioned first side, the range information of above-mentioned second side, above-mentioned third side range information,
And the folder of above-mentioned tested vehicle driving direction and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface
Angle information；It is calculated using the range information of above-mentioned first side, the range information of above-mentioned second side and above-mentioned angle information
The width information of above-mentioned tested vehicle.
Optionally, when program is run, equipment where control storage medium executes following functions: detecting by above-mentioned first
The above-mentioned first side of element scan believes the three-dimensional data of above-mentioned first side of the above-mentioned tested vehicle in above-mentioned detection zone
Breath is converted to three-dimensional coordinate information；Distance in above-mentioned first side, which is searched, using above-mentioned three-dimensional coordinate information corresponds to sense channel
The nearest boundary point of horizontal distance, and determine using the boundary point that finds the range information of above-mentioned first side；By above-mentioned
Second detecting element scans above-mentioned second side, by the three of above-mentioned second side of the above-mentioned tested vehicle in above-mentioned detection zone
Dimension data information is converted to three-dimensional coordinate information；The corresponding inspection of distance in above-mentioned second side is searched using above-mentioned three-dimensional coordinate information
The nearest boundary point of the horizontal distance in channel is surveyed, and determines the range information of above-mentioned second side using the boundary point found.
Optionally, when program is run, equipment where control storage medium executes following functions: utilizing above-mentioned three-dimensional data
The smallest the near front wheel boundary point of vertical range and the right side in the above-mentioned tested vehicle of information searching between above-mentioned third detecting element
Front-wheel boundary point；According to working as boundary point line and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface
Leading angle determines above-mentioned angle information, wherein above-mentioned boundary point line is above-mentioned the near front wheel boundary point and above-mentioned off-front wheel boundary
Line between point.
Optionally, when program is run, equipment where control storage medium executes following functions: believing from above-mentioned three-dimensional data
The first vertical range and the second vertical range are obtained in breath, wherein above-mentioned first vertical range enters upper for above-mentioned tested vehicle
Projection of the distance between headstock boundary point and the first default front-wheel boundary point of detection zone on vehicle heading is stated, on
Stating the second vertical range is the tailstock boundary point and the first default front-wheel boundary point that above-mentioned tested vehicle leaves above-mentioned detection zone
The distance between projection on vehicle heading；It is calculated using above-mentioned first vertical range and above-mentioned second vertical range
State the length information of tested vehicle.
Optionally, when program is run, equipment where control storage medium executes following functions: believing in above-mentioned three-dimensional data
The range information of the above-mentioned first side got in breath by above-mentioned first detecting element passes through above-mentioned second detecting element
The range information of the above-mentioned second side got determines above-mentioned headstock boundary point, and is obtained by above-mentioned third detecting element
To the range information of above-mentioned third side determine the above-mentioned first default front-wheel boundary point and the second default front-wheel boundary point；It utilizes
Above-mentioned first default front-wheel boundary point and above-mentioned second default front-wheel boundary point calculate vehicle heading and above-mentioned first detection
The angle information of unit or above-mentioned second probe unit scanning surface；Using above-mentioned headstock boundary point, above-mentioned first default front-wheel
Boundary point and above-mentioned angle information determine above-mentioned first vertical range.
Optionally, when program is run, equipment where control storage medium executes following functions: believing in above-mentioned three-dimensional data
The range information of the above-mentioned first side got in breath by above-mentioned first detecting element passes through above-mentioned second detecting element
The range information of the above-mentioned second side got determines above-mentioned tailstock boundary point, and is obtained by above-mentioned third detecting element
To the range information of above-mentioned third side determine the first default front-wheel boundary point and the second default front-wheel boundary point；Using above-mentioned
First default front-wheel boundary point and above-mentioned second default front-wheel boundary point calculate vehicle heading and above-mentioned first probe unit
Or the angle information of above-mentioned second probe unit scanning surface；Using above-mentioned tailstock boundary point, above-mentioned first default front-wheel boundary
Point and above-mentioned angle information determine above-mentioned second vertical range.
Optionally, when program is run, equipment where control storage medium executes following functions: believing in above-mentioned three-dimensional data
In breath, the range information of the above-mentioned first side got by above-mentioned first detecting element determines the top of above-mentioned first side
The range information of boundary's information or the above-mentioned second side got by above-mentioned second detecting element determines above-mentioned second side
Coboundary information；The elevation information of above-mentioned tested vehicle is calculated using determining coboundary information.
According to the embodiment of the present application, a kind of processor embodiment is additionally provided.Optionally, in the present embodiment, above-mentioned place
Reason device is for running program, wherein above procedure executes the acquisition methods of any one of the above vehicle's contour information when running.
The embodiment of the present application provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor performs the steps of when executing program to be existed by detection device acquisition tested vehicle
Three-dimensional data information in detection zone, wherein above-mentioned detection device includes: the first detecting element, above-mentioned tested for scanning
The range information of first side of the vehicle in driving direction, the second detecting element are being travelled for scanning above-mentioned tested vehicle
The range information of second side on direction, third detecting element, for scanning above-mentioned tested vehicle in driving direction
The range information of three sides, above-mentioned first side is opposite with above-mentioned second side to be arranged in parallel and above-mentioned first side and above-mentioned
Two side faces are vertical with ground level, and above-mentioned third side is parallel with above-mentioned ground level；According on above-mentioned three-dimensional data acquisition of information
State the profile information of tested vehicle, wherein above-mentioned profile information includes at least one of: length information, width information, height
Information.
Optionally, when above-mentioned processor executes program, above-mentioned first side can also be obtained from above-mentioned three-dimensional data information
The range information in face, the range information of above-mentioned second side, above-mentioned third side range information and above-mentioned tested vehicle row
Sail the angle information of direction and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface；Using above-mentioned first
The range information of side, the range information of above-mentioned second side and above-mentioned angle information calculate the width letter of above-mentioned tested vehicle
Breath.
Optionally, when above-mentioned processor executes program, above-mentioned first side can also be scanned by above-mentioned first detecting element
The three-dimensional data information of above-mentioned first side of the above-mentioned tested vehicle in above-mentioned detection zone is converted to three-dimensional coordinate letter by face
Breath；The nearest boundary of horizontal distance that distance in above-mentioned first side corresponds to sense channel is searched using above-mentioned three-dimensional coordinate information
Point, and determine using the boundary point that finds the range information of above-mentioned first side；By in the scanning of above-mentioned second detecting element
Second side is stated, the three-dimensional data information of above-mentioned second side of the above-mentioned tested vehicle in above-mentioned detection zone is converted to three
Tie up coordinate information；Distance in above-mentioned second side, which is searched, using above-mentioned three-dimensional coordinate information corresponds to the horizontal distance of sense channel most
Close boundary point, and determine using the boundary point that finds the range information of above-mentioned second side.
Optionally, when above-mentioned processor executes program, the above-mentioned above-mentioned tested vechicle of three-dimensional data information searching can also be utilized
The smallest the near front wheel boundary point of vertical range and off-front wheel boundary point between above-mentioned third detecting element；According to boundary
The leading angle of working as of point line and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface determines above-mentioned angle
Information, wherein line of the above-mentioned boundary point line between above-mentioned the near front wheel boundary point and above-mentioned off-front wheel boundary point.
Optionally, when above-mentioned processor executes program, can also be obtained from above-mentioned three-dimensional data information first vertically away from
From with the second vertical range, wherein above-mentioned first vertical range be above-mentioned tested vehicle enter above-mentioned detection zone headstock side
The projection of the distance between boundary's point and the first default front-wheel boundary point on vehicle heading, above-mentioned second vertical range are upper
It states tested vehicle and leaves the distance between tailstock boundary point and first default front-wheel boundary point of above-mentioned detection zone in vehicle row
Sail the projection on direction；The length letter of above-mentioned tested vehicle is calculated using above-mentioned first vertical range and above-mentioned second vertical range
Breath.
Optionally, it when above-mentioned processor executes program, can also be visited in above-mentioned three-dimensional data information by above-mentioned first
The above-mentioned second side surveying the range information for the above-mentioned first side that element is got or being got by above-mentioned second detecting element
The range information in face determines above-mentioned headstock boundary point, and the above-mentioned third side got by above-mentioned third detecting element
Range information determines the above-mentioned first default front-wheel boundary point and the second default front-wheel boundary point；Utilize the above-mentioned first default front wheel edge
Boundary's point and above-mentioned second default front-wheel boundary point calculate vehicle heading and above-mentioned first probe unit or above-mentioned second spy
Survey the angle information in unit scan face；Believed using above-mentioned headstock boundary point, above-mentioned first default front-wheel boundary point and above-mentioned angle
Breath determines above-mentioned first vertical range.
Optionally, it when above-mentioned processor executes program, can also be visited in above-mentioned three-dimensional data information by above-mentioned first
The above-mentioned second side surveying the range information for the above-mentioned first side that element is got or being got by above-mentioned second detecting element
The range information in face determines above-mentioned tailstock boundary point, and the above-mentioned third side got by above-mentioned third detecting element
Range information determines the first default front-wheel boundary point and the second default front-wheel boundary point；Utilize the above-mentioned first default front-wheel boundary point
With the above-mentioned second default front-wheel boundary point, calculates vehicle heading and above-mentioned first probe unit or above-mentioned second detection is single
The angle information of first scanning surface；Using above-mentioned tailstock boundary point, above-mentioned first default front-wheel boundary point and above-mentioned angle information
Determine above-mentioned second vertical range.
Optionally, it when above-mentioned processor executes program, can also be visited in above-mentioned three-dimensional data information by above-mentioned first
It surveys the range information of above-mentioned first side that element is got and determines the coboundary information of above-mentioned first side or by above-mentioned the
The range information for the above-mentioned second side that two detecting elements are got determines the coboundary information of above-mentioned second side；Utilize determination
Coboundary information calculate the elevation information of above-mentioned tested vehicle.
Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step: obtaining the three-dimensional data information of tested vehicle in the detection area by detection device,
Wherein, above-mentioned detection device includes: the first detecting element, for scanning first side of the above-mentioned tested vehicle in driving direction
Range information, the second detecting element, for scanning the range information of second side of the above-mentioned tested vehicle in driving direction,
Third detecting element, for scanning the range information of third side of the above-mentioned tested vehicle in driving direction, above-mentioned first side
Face is opposite with above-mentioned second side to be arranged in parallel and above-mentioned first side and above-mentioned second side are vertical with ground level, and above-mentioned
Three sides are parallel with above-mentioned ground level；According to the profile information of the above-mentioned above-mentioned tested vehicle of three-dimensional data acquisition of information, wherein on
Stating profile information includes at least one of: length information, width information, elevation information.
It optionally, can also be from being obtained in above-mentioned three-dimensional data information when above-mentioned computer program product executes program
State the range information of first side, the range information of above-mentioned second side, above-mentioned third side range information and above-mentioned quilt
Survey the angle information of vehicle heading and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface；Using
The range information of above-mentioned first side, the range information of above-mentioned second side and above-mentioned angle information calculate above-mentioned tested vehicle
Width information.
Optionally, it when above-mentioned computer program product executes program, can also be scanned by above-mentioned first detecting element
First side is stated, the three-dimensional data information of above-mentioned first side of the above-mentioned tested vehicle in above-mentioned detection zone is converted to three
Tie up coordinate information；Distance in above-mentioned first side, which is searched, using above-mentioned three-dimensional coordinate information corresponds to the horizontal distance of sense channel most
Close boundary point, and determine using the boundary point that finds the range information of above-mentioned first side；Pass through above-mentioned second detection member
Part scans above-mentioned second side, by the three-dimensional data information of above-mentioned second side of the above-mentioned tested vehicle in above-mentioned detection zone
Be converted to three-dimensional coordinate information；The water that distance in above-mentioned second side corresponds to sense channel is searched using above-mentioned three-dimensional coordinate information
It puts down apart from nearest boundary point, and determines the range information of above-mentioned second side using the boundary point found.
It optionally, can also be using on above-mentioned three-dimensional data information searching when above-mentioned computer program product executes program
State the smallest the near front wheel boundary point of vertical range and the off-front wheel boundary point in tested vehicle between above-mentioned third detecting element；
It is determined according to the leading angle of working as of boundary point line and above-mentioned first detecting element scanning surface or above-mentioned second detecting element scanning surface
Above-mentioned angle information, wherein company of the above-mentioned boundary point line between above-mentioned the near front wheel boundary point and above-mentioned off-front wheel boundary point
Line.
Optionally, when above-mentioned computer program product executes program, the can also be obtained from above-mentioned three-dimensional data information
One vertical range and the second vertical range, wherein above-mentioned first vertical range is that above-mentioned tested vehicle enters above-mentioned detection zone
The projection on vehicle heading of headstock boundary point and the distance between the first default front-wheel boundary point, above-mentioned second is vertical
Distance is that above-mentioned tested vehicle leaves the distance between tailstock boundary point and first default front-wheel boundary point of above-mentioned detection zone
Projection on vehicle heading；Above-mentioned tested vehicle is calculated using above-mentioned first vertical range and above-mentioned second vertical range
Length information.
It optionally, can also be in above-mentioned three-dimensional data information by upper when above-mentioned computer program product executes program
It states the range information for the above-mentioned first side that the first detecting element is got or is got by above-mentioned second detecting element upper
The range information for stating second side determines above-mentioned headstock boundary point, and above-mentioned got by above-mentioned third detecting element
The range information of three sides determines the above-mentioned first default front-wheel boundary point and the second default front-wheel boundary point；It is pre- using above-mentioned first
If front-wheel boundary point and above-mentioned second default front-wheel boundary point, calculate vehicle heading and above-mentioned first probe unit or on
State the angle information of the second probe unit scanning surface；Using above-mentioned headstock boundary point, above-mentioned first default front-wheel boundary point and on
It states angle information and determines above-mentioned first vertical range.
It optionally, can also be in above-mentioned three-dimensional data information by upper when above-mentioned computer program product executes program
It states the range information for the above-mentioned first side that the first detecting element is got or is got by above-mentioned second detecting element upper
The range information for stating second side determines above-mentioned tailstock boundary point, and above-mentioned got by above-mentioned third detecting element
The range information of three sides determines the first default front-wheel boundary point and the second default front-wheel boundary point；Before being preset using above-mentioned first
Boundary point and above-mentioned second default front-wheel boundary point are taken turns, vehicle heading and above-mentioned first probe unit or above-mentioned the are calculated
The angle information of two probe unit scanning surfaces；Using above-mentioned tailstock boundary point, above-mentioned first default front-wheel boundary point and above-mentioned
Angle information determines above-mentioned second vertical range.
It optionally, can also be in above-mentioned three-dimensional data information, by upper when above-mentioned computer program product executes program
The range information for stating the above-mentioned first side that the first detecting element is got determines the coboundary information or logical of above-mentioned first side
The range information for crossing the above-mentioned second side that above-mentioned second detecting element is got determines the coboundary information of above-mentioned second side；
The elevation information of above-mentioned tested vehicle is calculated using determining coboundary information.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (12)
1. a kind of acquisition methods of vehicle's contour information characterized by comprising
Pass through detection device and obtain tested vehicle three-dimensional data information in the detection area, wherein the detection device includes:
First detecting element, for scanning the range information of first side of the tested vehicle in driving direction, the second detection member
Part, for scanning the range information of second side of the tested vehicle in driving direction, third detecting element, for scanning
The range information of third side of the tested vehicle in driving direction, the first side and the second side are relatively flat
Row is arranged and the first side and the second side are vertical with ground level, and the third side and the ground level are flat
Row；
According to the profile information of tested vehicle described in the three-dimensional data acquisition of information, wherein the profile information includes following
At least one: length information, width information, elevation information.
2. the method according to claim 1, wherein the tested vehicle according to the three-dimensional data acquisition of information
The profile information include:
The range information of the first side, the range information of the second side, institute are obtained from the three-dimensional data information
State the range information and the tested vehicle driving direction and the first detecting element scanning surface or described the of third side
The angle information of two detecting element scanning surfaces；
Using described in the calculating of the range information of the first side, the range information of the second side and the angle information
The width information of tested vehicle.
3. according to the method described in claim 2, it is characterized in that, obtaining the first side from the three-dimensional data information
Range information, the second side range information include:
Scan the first side by first detecting element, by the tested vehicle in the detection zone described in
The three-dimensional data information of first side is converted to three-dimensional coordinate information；
The nearest side of horizontal distance that distance in the first side corresponds to sense channel is searched using the three-dimensional coordinate information
Boundary's point, and determine using the boundary point that finds the range information of the first side；
Scan the second side by second detecting element, by the tested vehicle in the detection zone described in
The three-dimensional data information of second side is converted to three-dimensional coordinate information；
The nearest side of horizontal distance that distance in the second side corresponds to sense channel is searched using the three-dimensional coordinate information
Boundary's point, and determine using the boundary point that finds the range information of the second side.
4. according to the method described in claim 2, it is characterized in that, obtaining the third side from the three-dimensional data information
Range information include:
Most using the vertical range in tested vehicle described in the three-dimensional data information searching between the third detecting element
Small the near front wheel boundary point and off-front wheel boundary point；
Work as leading angle according to boundary point line and the first detecting element scanning surface or the second detecting element scanning surface
Determine the angle information, wherein the boundary point line is between the near front wheel boundary point and the off-front wheel boundary point
Line.
5. the method according to claim 1, wherein the tested vehicle according to the three-dimensional data acquisition of information
The profile information include:
The first vertical range and the second vertical range are obtained from the three-dimensional data information, wherein first vertical range
The distance between headstock boundary point and first default front-wheel boundary point for entering the detection zone for the tested vehicle is in vehicle
Projection in driving direction, second vertical range are the tailstock boundary point that the tested vehicle leaves the detection zone
Projection of the distance between the first default front-wheel boundary point on vehicle heading；
The length information of the tested vehicle is calculated using first vertical range and second vertical range.
6. according to the method described in claim 5, it is characterized in that, obtaining described first from the three-dimensional data information vertically
Distance includes:
The range information of the first side got in the three-dimensional data information by first detecting element or
The range information of the second side got by second detecting element determines the headstock boundary point, and passes through
The range information for the third side that the third detecting element is got determines the described first default front-wheel boundary point and
Two default front-wheel boundary points；
Using the described first default front-wheel boundary point and the second default front-wheel boundary point, calculate vehicle heading with it is described
The angle information of first probe unit or the second probe unit scanning surface；
Using the headstock boundary point, the first default front-wheel boundary point and the angle information determine described first vertically away from
From.
7. according to the method described in claim 5, it is characterized in that, obtaining described second from the three-dimensional data information vertically
Distance includes:
The range information of the first side got in the three-dimensional data information by first detecting element or
The range information of the second side got by second detecting element determines the tailstock boundary point, and passes through
The range information for the third side that the third detecting element is got determines the first default front-wheel boundary point and second in advance
If front-wheel boundary point；
Using the described first default front-wheel boundary point and the second default front-wheel boundary point, calculate vehicle heading with it is described
The angle information of first probe unit or the second probe unit scanning surface；
Determine that described second is vertical using the tailstock boundary point, the first default front-wheel boundary point and the angle information
Distance.
8. the method according to claim 1, wherein the tested vehicle according to the three-dimensional data acquisition of information
The profile information include:
In the three-dimensional data information, the range information of the first side got by first detecting element is true
The distance of the coboundary information of the fixed first side or the second side got by second detecting element is believed
Breath determines the coboundary information of the second side；
The elevation information of the tested vehicle is calculated using determining coboundary information.
9. the method according to claim 1, wherein the scanning angle of first detecting element be greater than 80 degree,
The beam divergence angle of the third detecting element hanging down apart from the ground level no more than 6 milliradians and the third detecting element
Straight height is not more than 0.1 meter.
10. a kind of acquisition system of vehicle's contour information characterized by comprising
Detection device, for obtaining the three-dimensional data information of tested vehicle in the detection area, wherein the detection device packet
It includes: the first detecting element, for scanning the range information of first side of the tested vehicle in driving direction, the second detection
Element, for scanning the range information of second side of the tested vehicle in driving direction, third detecting element, for sweeping
The range information of third side of the tested vehicle in driving direction is retouched, the first side is opposite with the second side
It is arranged in parallel and the first side and the second side is vertical with ground level, the third side and the ground level are flat
Row；
Processor is coupled with the detection device, the wheel for the tested vehicle according to the three-dimensional data acquisition of information
Wide information, wherein the profile information includes at least one of: length information, width information, elevation information.
11. system according to claim 10, which is characterized in that the scanning angle of first detecting element is greater than 80
Degree, the beam divergence angle of the third detecting element is no more than 6 milliradians and the third detecting element is apart from the ground level
Vertical height be not more than 0.1 meter.
12. a kind of acquisition device of vehicle's contour information characterized by comprising
First obtains module, for obtaining the three-dimensional data information of tested vehicle in the detection area by detection device, wherein
The detection device includes: the first detecting element, for scan first side of the tested vehicle in driving direction away from
From information, the second detecting element, for scanning the range information of second side of the tested vehicle in driving direction, third
Detecting element, for scanning the range information of third side of the tested vehicle in driving direction, the first side with
The second side is arranged in parallel relatively and the first side and the second side are vertical with ground level, the third side
Face is parallel with the ground level；
Second obtains module, the profile information for the tested vehicle according to the three-dimensional data acquisition of information, wherein described
Profile information includes at least one of: length information, width information, elevation information.
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| CN112325794A (en) * | 2020-10-12 | 2021-02-05 | 武汉万集信息技术有限公司 | Method, device and system for determining overall dimension of vehicle |
| CN115542325A (en) * | 2022-09-30 | 2022-12-30 | 珠海极海半导体有限公司 | Vehicle radar system and vehicle radar correction method |
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| CN112325794A (en) * | 2020-10-12 | 2021-02-05 | 武汉万集信息技术有限公司 | Method, device and system for determining overall dimension of vehicle |
| CN115542325A (en) * | 2022-09-30 | 2022-12-30 | 珠海极海半导体有限公司 | Vehicle radar system and vehicle radar correction method |
| CN115542325B (en) * | 2022-09-30 | 2025-08-29 | 珠海极海半导体有限公司 | Vehicle radar system and correction method of vehicle radar |
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